CN211550912U - Pipeline robot - Google Patents
Pipeline robot Download PDFInfo
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- CN211550912U CN211550912U CN201922152764.3U CN201922152764U CN211550912U CN 211550912 U CN211550912 U CN 211550912U CN 201922152764 U CN201922152764 U CN 201922152764U CN 211550912 U CN211550912 U CN 211550912U
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Abstract
The utility model belongs to the technical field of pipeline detection technology and specifically relates to a pipeline robot, which comprises a bracket body, wherein the bracket body comprises a bracket frame and a bracket rod, and one side of the bracket frame is connected with the bracket rod; a tooth-shaped hub group is arranged in the support frame, and a plurality of auxiliary wheels are arranged on the support rod and the support frame; a control box is arranged on the support rod and connected with a power structure of the tooth-shaped hub group; and a camera is arranged on one side of the support frame opposite to the side connected with the support rod.
Description
Technical Field
The utility model discloses pipeline detection technical field, concretely relates to pipeline robot.
Background
With the development of petroleum, chemical, natural gas and nuclear industries and the needs of pipeline inspection or maintenance, pipeline robots are also deeply researched and widely used. Aiming at the safety detection and maintenance of the conveying pipelines (water, steam, oil and the like) of various production equipment and special equipment (high-pressure pipelines and the like), the pipeline robot has important practical value in practical application.
Generally, the existing pipeline robot adopts the following structures: the bottom of the tracked vehicle structure adopts a track to drive the pipeline robot to walk in the pipeline; the supporting rod structure adopts a folding rod structure with wheels at the end part to support the pipeline robot in the middle of the pipeline and then realizes walking motion; the wheel type structure adopts the contact of the traditional wheels or the wheels with special structures with the inner wall surface of the pipeline, so that the pipeline robot runs in the pipeline.
However, the conventional pipe robot requires a high pulling force and a function through a welding obstacle in practical use due to its structural limitation.
SUMMERY OF THE UTILITY MODEL
In order to effectively solve the problem, the utility model provides a pipeline robot.
The utility model discloses a concrete technical scheme as follows: a pipeline robot comprises a support body, wherein the support body comprises a support frame and a support rod, one side of the support frame is connected with the support rod, and the support frame and the support rod are on the same horizontal plane;
a toothed hub group for providing walking power for the pipeline robot is arranged in the support frame, and at least two horizontal auxiliary positioning wheels, at least two vertical auxiliary positioning wheels arranged on the top side, at least one vertical driven wheel arranged on the bottom side and at least two horizontal driven wheels are arranged on the support rod and the support frame;
a control box is arranged on the support rod and connected with a power structure of the tooth-shaped hub group;
and a camera is arranged on one side of the support frame opposite to the side connected with the support rod.
Furthermore, a side plate body is fixed on the support rod;
the side plate bodies are parallel to the planes where the support rods and the support frame are located;
two horizontal driven wheels are arranged on the side plate body, and the plane where the horizontal driven wheels are located is parallel to the plane where the support frame is located;
a first vertical auxiliary positioning wheel is arranged on the upper side of the support rod; a second vertical auxiliary positioning wheel is arranged on the upper side of the short rod of the support frame corresponding to the connecting support rod;
the control box is arranged between the first vertical auxiliary positioning wheel and the second vertical auxiliary positioning wheel;
the vertical driven wheel is arranged on the lower side of the support rod;
two horizontal auxiliary positioning wheels are arranged on two sides of the first vertical auxiliary positioning wheel in the horizontal direction, the two horizontal auxiliary positioning wheels are positioned on the same straight line, and the horizontal auxiliary positioning wheels and the horizontal driven wheel are positioned on the same plane;
the first vertical auxiliary positioning wheel, the second vertical auxiliary positioning wheel and the vertical driven wheel are positioned on the same plane.
Furthermore, the whole support frame is a rectangular frame-shaped structure, the rectangular frame-shaped structure comprises two short rods and two long rods, and the two short rods and the two long rods are mutually staggered and fixedly connected together in sequence to form the rectangular frame-shaped structure.
Further, the toothed hub group comprises at least two toothed hubs, and the two toothed hubs are parallel to each other.
Furthermore, any one of the horizontal auxiliary positioning wheel and the vertical auxiliary positioning wheel comprises a rotating wheel, a rotating wheel bracket and an elastic piece;
the rotating wheel is fixedly connected to the rotating wheel support, and the rotating wheel support is connected to the support rod or the support frame through the elastic part.
The utility model has the advantages that: the utility model discloses can realize rotating through high-power in the pipeline to have higher crawling ability, and realize passing through the barrier in the pipeline.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the internal structure of the present invention;
FIG. 3 is a schematic top view of the internal structure of the present invention;
FIG. 4 is a schematic side view of the internal structure of the present invention;
fig. 5 is a front view schematically illustrating the internal structure of the present invention;
FIG. 6 is a schematic view of the internal structure of the pipeline of the present invention;
fig. 7 is a schematic view of the horizontal auxiliary positioning wheel of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
On the contrary, the invention is intended to cover alternatives, modifications, equivalents and alternatives which may be included within the spirit and scope of the invention as defined by the appended claims. Furthermore, in order to provide a better understanding of the present invention to the public, certain specific details are set forth in the following detailed description of the invention. It will be apparent to those skilled in the art that the present invention may be practiced without these specific details.
As shown in fig. 1-7, the pipeline robot provided by the present invention includes a support body;
the support body comprises a support frame 1 and a support rod 2, the support frame 1 is integrally of a rectangular frame-shaped structure, the rectangular frame-shaped structure comprises two short rods 11 and two long rods 12, and the two short rods 11 and the two long rods 12 are mutually staggered and sequentially fixedly connected together to form the rectangular frame-shaped structure;
one side of any one short rod 11 opposite to the rectangular frame-shaped structure is fixedly connected with the support rod 2;
specifically, the short rod 11 is fixedly connected to the support rod 2 on a plane defined by the rectangular frame-shaped structure, the support rod 2 is perpendicular to the short rod 11, the support rod 2 is a long rod-shaped structure as a whole, and the support rod 2 itself can be a solid rod or a hollow rod, which is not intended to limit the scope of protection claimed in the present application, but is only intended to explain the structure of the support rod 2;
the tooth-shaped hub group 3 is fixed in the rectangular frame-shaped structure, and two side surfaces of the tooth-shaped hub group 3 are arranged on the opposite inner sides of the two long rods 12 through components such as bearings and the like;
the upper side surface of the tooth-shaped hub group 3 is provided with a protective shell 30 for protecting the tooth-shaped hub group 3;
the tooth-shaped wheel hub group 3 comprises at least two tooth-shaped wheel hubs 31, and a motor is arranged outside a penetrating and fixing connection part 32 of the two tooth-shaped wheel hubs 31 and the long rod 12 and is used for providing a power structure for the rotation power of the tooth-shaped wheel hubs 31; the power structure is any motor structure capable of providing rotating power in the prior art, such as an electric bicycle motor, and is not particularly limited, and meanwhile, the power structure is connected with the control box 4;
the control box 4 is fixed above the support rod 2, and the control box 4 is connected with a power structure and provides power for the rotation of the toothed wheel hub 31;
a side plate 5 is also fixed on the support rod 2;
a tooth-shaped wheel hub group 3 for providing walking power of the pipeline robot is arranged in the support frame 1, and a side plate body 5 is also fixed on the support rod 2;
the side plate body 5 is parallel to the planes of the support rod 2 and the support frame 1;
two horizontal driven wheels 6 are arranged on the side plate body 5, and the plane where the horizontal driven wheels 6 are located is parallel to the plane where the support frame 1 is located;
a first vertical auxiliary positioning wheel 111 is arranged on the upper side of the support rod 2; a second vertical auxiliary positioning wheel 110 is arranged on the upper side of the short rod 11 of the support frame 1 corresponding to the connecting support rod 2;
the control box 4 is arranged between the first vertical auxiliary positioning wheel 111 and the second vertical auxiliary positioning wheel 110;
the vertical driven wheel 113 is arranged on the lower side of the support rod 2;
two horizontal auxiliary positioning wheels 112 are arranged on two sides of the first vertical auxiliary positioning wheel 111 in the horizontal direction, the two horizontal auxiliary positioning wheels 112 are positioned on the same straight line, and the horizontal auxiliary positioning wheels 112 and the horizontal driven wheel 6 are positioned on the same plane;
the first vertical auxiliary positioning wheel 111, the second vertical auxiliary positioning wheel 110 and the vertical driven wheel 113 are on the same plane.
In other embodiments of the present invention, auxiliary oblique auxiliary positioning wheels 114 are disposed on two outer sides of the tooth-shaped wheel hub set 3, the oblique auxiliary positioning wheels 114 and the tooth-shaped wheel hub 31 have an oblique angle, which is not particularly limited, and is intended to assist the positioning of the tooth-shaped wheel hub set 3 during the moving process;
any one of the auxiliary positioning wheels comprises a rotating wheel 121, a rotating wheel bracket 122 and an elastic part 123;
the rotating wheel 121 is fixedly connected to the rotating wheel support 122, and the rotating wheel support 122 is fixed to the support rod 2 or the support frame 1 through the elastic member 123, or fixed to the support rod 2 or the support frame 1 through a fixing member;
a camera 7 is arranged on the other short rod 11 of the bracket frame 1;
the horizontal driven wheel 6 can be fixed on the side plate body 5 through a fixing body and an elastic body, so that the side elastic fixation is realized;
and the short rod 11, the long rod 12 and the support rod 2 of the support frame 1 are all structures with internal cavities, so that the structures such as wires are connected in the internal cavities, and the functions such as data transmission are realized.
Claims (4)
1. The pipeline robot is characterized by comprising a support body, wherein the support body comprises a support frame and a support rod, one side of the support frame is connected with the support rod, and the support frame and the support rod are on the same horizontal plane;
a toothed hub group for providing walking power for the pipeline robot is arranged in the support frame, and at least two horizontal auxiliary positioning wheels, at least two vertical auxiliary positioning wheels arranged on the top side, at least one vertical driven wheel arranged on the bottom side and at least two horizontal driven wheels are arranged on the support rod and the support frame;
a control box is arranged on the support rod and connected with a power structure of the tooth-shaped hub group;
and a camera is arranged on one side of the support frame opposite to the side connected with the support rod.
2. The pipeline robot of claim 1, wherein a side plate body is further fixed to the support rod;
the side plate bodies are parallel to the planes where the support rods and the support frame are located;
two horizontal driven wheels are arranged on the side plate body, and the plane where the horizontal driven wheels are located is parallel to the plane where the support frame is located;
a first vertical auxiliary positioning wheel is arranged on the upper side of the support rod; a second vertical auxiliary positioning wheel is arranged on the upper side of the short rod of the support frame corresponding to the connecting support rod;
the control box is arranged between the first vertical auxiliary positioning wheel and the second vertical auxiliary positioning wheel;
the vertical driven wheel is arranged on the lower side of the support rod;
two horizontal auxiliary positioning wheels are arranged on two sides of the first vertical auxiliary positioning wheel in the horizontal direction, the two horizontal auxiliary positioning wheels are positioned on the same straight line, and the horizontal auxiliary positioning wheels and the horizontal driven wheel are positioned on the same plane;
the first vertical auxiliary positioning wheel, the second vertical auxiliary positioning wheel and the vertical driven wheel are positioned on the same plane.
3. The pipeline robot as claimed in claim 2, wherein the support frame is a rectangular frame-like structure integrally including two short rods and two long rods, and the two short rods and the two long rods are alternately and sequentially fixedly connected to each other to form the rectangular frame-like structure.
4. The pipeline robot of claim 1, wherein the set of toothed hubs comprises at least two toothed hubs, the two toothed hubs being parallel to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922152764.3U CN211550912U (en) | 2019-12-05 | 2019-12-05 | Pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922152764.3U CN211550912U (en) | 2019-12-05 | 2019-12-05 | Pipeline robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211550912U true CN211550912U (en) | 2020-09-22 |
Family
ID=72503506
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922152764.3U Active CN211550912U (en) | 2019-12-05 | 2019-12-05 | Pipeline robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211550912U (en) |
-
2019
- 2019-12-05 CN CN201922152764.3U patent/CN211550912U/en active Active
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